evian_control::loops

Trait ControlLoop

Source 
pub trait ControlLoop {
    type Input;
    type Output;

    // Required method
    fn update(
        &mut self,
        measurement: Self::Input,
        setpoint: Self::Input,
        dt: Duration,
    ) -> Self::Output;
}
Expand description

Functionality for a generic control loop.

Control loops are fundamental to control systems, where a controller continually adjusts its output to drive a control system to its desired value.

This trait defines the core behavior of such controllers, which take a setpoint (the desired target value of the system) and optionally a measurement of the system (recorded through a sensor or similar). The controller then computes an output intended to minimize the system’s error, which is the difference between the measurement and the setpoint.

§Examples

This example shows an implementation of a basic proportional feedback controller, which scales its output based on the system’s error. Measurements further from the setpoint will yield larger control signals.

pub struct PController {
    pub kp: f64,
}

impl ControlLoop for PController {
    type Input = f64;
    type Output = f64;

    fn update(
        &mut self,
        measurement: f64,
        setpoint: f64,
        _dt: Duration,
    ) -> f64 {
        (setpoint - measurement) * self.kp
    }
}

Required Associated Types§

Source

type Input

The type of input measurements and setpoints that this controller takes.

Source

type Output

The type of output (control signal) this controller produces.

Required Methods§

Source

fn update( &mut self, measurement: Self::Input, setpoint: Self::Input, dt: Duration, ) -> Self::Output

Updates the control loop with the latest measurement and setpoint for the system, producing a corresponding control signal.

Implementors§